Octree pointcloud voxel class which maintains adjacency information for its voxels. More...

#include <pcl/octree/octree_pointcloud_adjacency.h>

Inheritance diagram for pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >:

Public Types
using	OctreeBaseT = OctreeBase< LeafContainerT, BranchContainerT >

using	OctreeAdjacencyT = OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >

using	Ptr = boost::shared_ptr< OctreeAdjacencyT >

using	ConstPtr = boost::shared_ptr< const OctreeAdjacencyT >

using	OctreePointCloudT = OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBaseT >

using	LeafNode = typename OctreePointCloudT::LeafNode

using	BranchNode = typename OctreePointCloudT::BranchNode

using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = boost::shared_ptr< PointCloud >

using	PointCloudConstPtr = boost::shared_ptr< const PointCloud >

using	VoxelAdjacencyList = boost::adjacency_list< boost::setS, boost::setS, boost::undirectedS, PointT, float >

using	VoxelID = typename VoxelAdjacencyList::vertex_descriptor

using	EdgeID = typename VoxelAdjacencyList::edge_descriptor

using	LeafVectorT = std::vector< LeafContainerT * >

using	iterator = typename LeafVectorT::iterator

using	const_iterator = typename LeafVectorT::const_iterator

Public Types inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >
using	Base = OctreeBase< LeafContainerT, BranchContainerT >

using	LeafNode = typename OctreeBase< LeafContainerT, BranchContainerT > ::LeafNode

using	BranchNode = typename OctreeBase< LeafContainerT, BranchContainerT > ::BranchNode

using	IndicesPtr = boost::shared_ptr< std::vector< int > >

using	IndicesConstPtr = boost::shared_ptr< const std::vector< int > >

using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = boost::shared_ptr< PointCloud >

using	PointCloudConstPtr = boost::shared_ptr< const PointCloud >

using	SingleBuffer = OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT > >

using	Ptr = boost::shared_ptr< OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > > >

using	ConstPtr = boost::shared_ptr< const OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeBase< LeafContainerT, BranchContainerT > > >

using	AlignedPointTVector = std::vector< PointT, Eigen::aligned_allocator< PointT > >

using	AlignedPointXYZVector = std::vector< PointXYZ, Eigen::aligned_allocator< PointXYZ > >

Public Types inherited from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >
using	OctreeT = OctreeBase< LeafContainerT, BranchContainerT >

using	BranchNode = OctreeBranchNode< BranchContainerT >

using	LeafNode = OctreeLeafNode< LeafContainerT >

using	BranchContainer = BranchContainerT

using	LeafContainer = LeafContainerT

using	Iterator = OctreeDepthFirstIterator< OctreeT >

using	ConstIterator = const OctreeDepthFirstIterator< OctreeT >

using	LeafNodeIterator = OctreeLeafNodeDepthFirstIterator< OctreeT >

using	ConstLeafNodeIterator = const OctreeLeafNodeDepthFirstIterator< OctreeT >

using	LeafNodeDepthFirstIterator = OctreeLeafNodeDepthFirstIterator< OctreeT >

using	ConstLeafNodeDepthFirstIterator = const OctreeLeafNodeDepthFirstIterator< OctreeT >

using	DepthFirstIterator = OctreeDepthFirstIterator< OctreeT >

using	ConstDepthFirstIterator = const OctreeDepthFirstIterator< OctreeT >

using	BreadthFirstIterator = OctreeBreadthFirstIterator< OctreeT >

using	ConstBreadthFirstIterator = const OctreeBreadthFirstIterator< OctreeT >

using	FixedDepthIterator = OctreeFixedDepthIterator< OctreeT >

using	ConstFixedDepthIterator = const OctreeFixedDepthIterator< OctreeT >

using	LeafNodeBreadthFirstIterator = OctreeLeafNodeBreadthFirstIterator< OctreeT >

using	ConstLeafNodeBreadthFirstIterator = const OctreeLeafNodeBreadthFirstIterator< OctreeT >

Public Member Functions
iterator	begin ()

iterator	end ()

LeafContainerT *	at (size_t idx)

size_t	size () const

	OctreePointCloudAdjacency (const double resolution_arg)
	Constructor. More...

	~OctreePointCloudAdjacency ()
	Empty class destructor. More...

void	addPointsFromInputCloud ()
	Adds points from cloud to the octree. More...

LeafContainerT *	getLeafContainerAtPoint (const PointT &point_arg) const
	Gets the leaf container for a given point. More...

void	computeVoxelAdjacencyGraph (VoxelAdjacencyList &voxel_adjacency_graph)
	Computes an adjacency graph of voxel relations. More...

void	setTransformFunction (std::function< void(PointT &p)> transform_func)
	Sets a point transform (and inverse) used to transform the space of the input cloud. More...

bool	testForOcclusion (const PointT &point_arg, const PointXYZ &camera_pos=PointXYZ(0, 0, 0))
	Tests whether input point is occluded from specified camera point by other voxels. More...

Public Member Functions inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >
	OctreePointCloud (const double resolution_arg)
	Octree pointcloud constructor. More...

	~OctreePointCloud ()
	Empty deconstructor. More...

void	setInputCloud (const PointCloudConstPtr &cloud_arg, const IndicesConstPtr &indices_arg=IndicesConstPtr())
	Provide a pointer to the input data set. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

PointCloudConstPtr	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

void	setEpsilon (double eps)
	Set the search epsilon precision (error bound) for nearest neighbors searches. More...

double	getEpsilon () const
	Get the search epsilon precision (error bound) for nearest neighbors searches. More...

void	setResolution (double resolution_arg)
	Set/change the octree voxel resolution. More...

double	getResolution () const
	Get octree voxel resolution. More...

unsigned int	getTreeDepth () const
	Get the maximum depth of the octree. More...

void	addPointsFromInputCloud ()
	Add points from input point cloud to octree. More...

void	addPointFromCloud (const int point_idx_arg, IndicesPtr indices_arg)
	Add point at given index from input point cloud to octree. More...

void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg)
	Add point simultaneously to octree and input point cloud. More...

void	addPointToCloud (const PointT &point_arg, PointCloudPtr cloud_arg, IndicesPtr indices_arg)
	Add point simultaneously to octree and input point cloud. More...

bool	isVoxelOccupiedAtPoint (const PointT &point_arg) const
	Check if voxel at given point exist. More...

bool	isVoxelOccupiedAtPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg) const
	Check if voxel at given point coordinates exist. More...

bool	isVoxelOccupiedAtPoint (const int &point_idx_arg) const
	Check if voxel at given point from input cloud exist. More...

void	deleteTree ()
	Delete the octree structure and its leaf nodes. More...

int	getOccupiedVoxelCenters (AlignedPointTVector &voxel_center_list_arg) const
	Get a PointT vector of centers of all occupied voxels. More...

int	getApproxIntersectedVoxelCentersBySegment (const Eigen::Vector3f &origin, const Eigen::Vector3f &end, AlignedPointTVector &voxel_center_list, float precision=0.2)
	Get a PointT vector of centers of voxels intersected by a line segment. More...

void	deleteVoxelAtPoint (const PointT &point_arg)
	Delete leaf node / voxel at given point. More...

void	deleteVoxelAtPoint (const int &point_idx_arg)
	Delete leaf node / voxel at given point from input cloud. More...

void	defineBoundingBox ()
	Investigate dimensions of pointcloud data set and define corresponding bounding box for octree. More...

void	defineBoundingBox (const double min_x_arg, const double min_y_arg, const double min_z_arg, const double max_x_arg, const double max_y_arg, const double max_z_arg)
	Define bounding box for octree. More...

void	defineBoundingBox (const double max_x_arg, const double max_y_arg, const double max_z_arg)
	Define bounding box for octree. More...

void	defineBoundingBox (const double cubeLen_arg)
	Define bounding box cube for octree. More...

void	getBoundingBox (double &min_x_arg, double &min_y_arg, double &min_z_arg, double &max_x_arg, double &max_y_arg, double &max_z_arg) const
	Get bounding box for octree. More...

double	getVoxelSquaredDiameter (unsigned int tree_depth_arg) const
	Calculates the squared diameter of a voxel at given tree depth. More...

double	getVoxelSquaredDiameter () const
	Calculates the squared diameter of a voxel at leaf depth. More...

double	getVoxelSquaredSideLen (unsigned int tree_depth_arg) const
	Calculates the squared voxel cube side length at given tree depth. More...

double	getVoxelSquaredSideLen () const
	Calculates the squared voxel cube side length at leaf level. More...

void	getVoxelBounds (const OctreeIteratorBase< OctreeBase< LeafContainerT, BranchContainerT > > &iterator, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const
	Generate bounds of the current voxel of an octree iterator. More...

void	enableDynamicDepth (size_t maxObjsPerLeaf)
	Enable dynamic octree structure. More...

Public Member Functions inherited from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >
Iterator	begin (unsigned int max_depth_arg=0u)

const Iterator	end ()

LeafNodeIterator	leaf_begin (unsigned int max_depth_arg=0u)

const LeafNodeIterator	leaf_end ()

LeafNodeDepthFirstIterator	leaf_depth_begin (unsigned int max_depth_arg=0u)

const LeafNodeDepthFirstIterator	leaf_depth_end ()

DepthFirstIterator	depth_begin (unsigned int max_depth_arg=0u)

const DepthFirstIterator	depth_end ()

BreadthFirstIterator	breadth_begin (unsigned int max_depth_arg=0u)

const BreadthFirstIterator	breadth_end ()

FixedDepthIterator	fixed_depth_begin (unsigned int fixed_depth_arg=0u)

const FixedDepthIterator	fixed_depth_end ()

LeafNodeBreadthFirstIterator	leaf_breadth_begin (unsigned int max_depth_arg=0u)

const LeafNodeBreadthFirstIterator	leaf_breadth_end ()

	OctreeBase ()
	Empty constructor. More...

virtual	~OctreeBase ()
	Empty deconstructor. More...

	OctreeBase (const OctreeBase &source)
	Copy constructor. More...

OctreeBase &	operator= (const OctreeBase &source)
	Copy operator. More...

void	setMaxVoxelIndex (unsigned int max_voxel_index_arg)
	Set the maximum amount of voxels per dimension. More...

void	setTreeDepth (unsigned int max_depth_arg)
	Set the maximum depth of the octree. More...

unsigned int	getTreeDepth () const
	Get the maximum depth of the octree. More...

LeafContainerT *	createLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)
	Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...

LeafContainerT *	findLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)
	Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...

bool	existLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) const
	idx_x_arg for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...

void	removeLeaf (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)
	Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). More...

std::size_t	getLeafCount () const
	Return the amount of existing leafs in the octree. More...

std::size_t	getBranchCount () const
	Return the amount of existing branch nodes in the octree. More...

void	deleteTree ()
	Delete the octree structure and its leaf nodes. More...

void	serializeTree (std::vector< char > &binary_tree_out_arg)
	Serialize octree into a binary output vector describing its branch node structure. More...

void	serializeTree (std::vector< char > &binary_tree_out_arg, std::vector< LeafContainerT *> &leaf_container_vector_arg)
	Serialize octree into a binary output vector describing its branch node structure and push all LeafContainerT elements stored in the octree to a vector. More...

void	serializeLeafs (std::vector< LeafContainerT *> &leaf_container_vector_arg)
	Outputs a vector of all LeafContainerT elements that are stored within the octree leaf nodes. More...

void	deserializeTree (std::vector< char > &binary_tree_input_arg)
	Deserialize a binary octree description vector and create a corresponding octree structure. More...

void	deserializeTree (std::vector< char > &binary_tree_input_arg, std::vector< LeafContainerT *> &leaf_container_vector_arg)
	Deserialize a binary octree description and create a corresponding octree structure. More...

Protected Member Functions
void	addPointIdx (const int point_idx_arg) override
	Add point at index from input pointcloud dataset to octree. More...

void	computeNeighbors (OctreeKey &key_arg, LeafContainerT *leaf_container)
	Fills in the neighbors fields for new voxels. More...

void	genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const
	Generates octree key for specified point (uses transform if provided). More...

Protected Member Functions inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >
void	expandLeafNode (LeafNode leaf_node, BranchNode parent_branch, unsigned char child_idx, unsigned int depth_mask)
	Add point at index from input pointcloud dataset to octree. More...

const PointT &	getPointByIndex (const unsigned int index_arg) const
	Get point at index from input pointcloud dataset. More...

LeafContainerT *	findLeafAtPoint (const PointT &point_arg) const
	Find octree leaf node at a given point. More...

void	getKeyBitSize ()
	Define octree key setting and octree depth based on defined bounding box. More...

void	adoptBoundingBoxToPoint (const PointT &point_idx_arg)
	Grow the bounding box/octree until point fits. More...

bool	isPointWithinBoundingBox (const PointT &point_idx_arg) const
	Checks if given point is within the bounding box of the octree. More...

void	genOctreeKeyforPoint (const PointT &point_arg, OctreeKey &key_arg) const
	Generate octree key for voxel at a given point. More...

void	genOctreeKeyforPoint (const double point_x_arg, const double point_y_arg, const double point_z_arg, OctreeKey &key_arg) const
	Generate octree key for voxel at a given point. More...

virtual bool	genOctreeKeyForDataT (const int &data_arg, OctreeKey &key_arg) const
	Virtual method for generating octree key for a given point index. More...

void	genLeafNodeCenterFromOctreeKey (const OctreeKey &key_arg, PointT &point_arg) const
	Generate a point at center of leaf node voxel. More...

void	genVoxelCenterFromOctreeKey (const OctreeKey &key_arg, unsigned int tree_depth_arg, PointT &point_arg) const
	Generate a point at center of octree voxel at given tree level. More...

void	genVoxelBoundsFromOctreeKey (const OctreeKey &key_arg, unsigned int tree_depth_arg, Eigen::Vector3f &min_pt, Eigen::Vector3f &max_pt) const
	Generate bounds of an octree voxel using octree key and tree depth arguments. More...

int	getOccupiedVoxelCentersRecursive (const BranchNode *node_arg, const OctreeKey &key_arg, AlignedPointTVector &voxel_center_list_arg) const
	Recursively search the tree for all leaf nodes and return a vector of voxel centers. More...

Protected Member Functions inherited from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >
LeafContainerT *	createLeaf (const OctreeKey &key_arg)
	Create a leaf node. More...

LeafContainerT *	findLeaf (const OctreeKey &key_arg) const
	Find leaf node. More...

bool	existLeaf (const OctreeKey &key_arg) const
	Check for existence of a leaf node in the octree. More...

void	removeLeaf (const OctreeKey &key_arg)
	Remove leaf node from octree. More...

OctreeNode *	getRootNode () const
	Retrieve root node. More...

bool	branchHasChild (const BranchNode &branch_arg, unsigned char child_idx_arg) const
	Check if branch is pointing to a particular child node. More...

OctreeNode *	getBranchChildPtr (const BranchNode &branch_arg, unsigned char child_idx_arg) const
	Retrieve a child node pointer for child node at child_idx. More...

void	setBranchChildPtr (BranchNode &branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg)
	Assign new child node to branch. More...

char	getBranchBitPattern (const BranchNode &branch_arg) const
	Generate bit pattern reflecting the existence of child node pointers. More...

void	deleteBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Delete child node and all its subchilds from octree. More...

void	deleteBranch (BranchNode &branch_arg)
	Delete branch and all its subchilds from octree. More...

BranchNode *	createBranchChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Create and add a new branch child to a branch class. More...

LeafNode *	createLeafChild (BranchNode &branch_arg, unsigned char child_idx_arg)
	Create and add a new leaf child to a branch class. More...

unsigned int	createLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode branch_arg, LeafNode &return_leaf_arg, BranchNode *&parent_of_leaf_arg)
	Create a leaf node at octree key. More...

void	findLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode branch_arg, LeafContainerT &result_arg) const
	Recursively search for a given leaf node and return a pointer. More...

bool	deleteLeafRecursive (const OctreeKey &key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg)
	Recursively search and delete leaf node. More...

void	serializeTreeRecursive (const BranchNode branch_arg, OctreeKey &key_arg, std::vector< char > binary_tree_out_arg, typename std::vector< LeafContainerT > leaf_container_vector_arg) const
	Recursively explore the octree and output binary octree description together with a vector of leaf node LeafContainerTs. More...

void	deserializeTreeRecursive (BranchNode branch_arg, unsigned int depth_mask_arg, OctreeKey &key_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_arg, typename std::vector< char >::const_iterator &binary_tree_input_it_end_arg, typename std::vector< LeafContainerT >::const_iterator leaf_container_vector_it_arg, typename std::vector< LeafContainerT >::const_iterator *leaf_container_vector_it_end_arg)
	Recursive method for deserializing octree structure. More...

virtual void	serializeTreeCallback (LeafContainerT &, const OctreeKey &) const
	Callback executed for every leaf node during serialization. More...

virtual void	deserializeTreeCallback (LeafContainerT &, const OctreeKey &)
	Callback executed for every leaf node during deserialization. More...

double	Log2 (double n_arg)
	Helper function to calculate the binary logarithm. More...

bool	octreeCanResize ()
	Test if octree is able to dynamically change its depth. More...

Additional Inherited Members
Protected Attributes inherited from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >
PointCloudConstPtr	input_
	Pointer to input point cloud dataset. More...

IndicesConstPtr	indices_
	A pointer to the vector of point indices to use. More...

double	epsilon_
	Epsilon precision (error bound) for nearest neighbors searches. More...

double	resolution_
	Octree resolution. More...

double	min_x_

double	max_x_

double	min_y_

double	max_y_

double	min_z_

double	max_z_

bool	bounding_box_defined_
	Flag indicating if octree has defined bounding box. More...

std::size_t	max_objs_per_leaf_
	Amount of DataT objects per leafNode before expanding branch. More...

Protected Attributes inherited from pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >
std::size_t	leaf_count_
	Amount of leaf nodes. More...

std::size_t	branch_count_
	Amount of branch nodes. More...

BranchNode *	root_node_
	Pointer to root branch node of octree. More...

unsigned int	depth_mask_
	Depth mask based on octree depth. More...

unsigned int	octree_depth_
	Octree depth. More...

bool	dynamic_depth_enabled_
	Enable dynamic_depth. More...

OctreeKey	max_key_
	key range More...

Detailed Description

template<typename PointT, typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
class pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >

Octree pointcloud voxel class which maintains adjacency information for its voxels.

This pointcloud octree class generates an octree from a point cloud (zero-copy). The octree pointcloud is initialized with its voxel resolution. Its bounding box is automatically adjusted or can be predefined.

The OctreePointCloudAdjacencyContainer class can be used to store data in leaf nodes.

An optional transform function can be provided which changes how the voxel grid is computed - this can be used to, for example, make voxel bins larger as they increase in distance from the origin (camera).

Note: See SupervoxelClustering for an example of how to provide a transform function.

If used in academic work, please cite:

J. Papon, A. Abramov, M. Schoeler, F. Woergoetter Voxel Cloud Connectivity Segmentation - Supervoxels from PointClouds In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2013

Author: Jeremie Papon (jpapo.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Definition at line 78 of file octree_pointcloud_adjacency.h.

Member Typedef Documentation

◆ BranchNode

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::BranchNode = typename OctreePointCloudT::BranchNode

Definition at line 91 of file octree_pointcloud_adjacency.h.

◆ const_iterator

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::const_iterator = typename LeafVectorT::const_iterator

Definition at line 107 of file octree_pointcloud_adjacency.h.

◆ ConstPtr

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::ConstPtr = boost::shared_ptr<const OctreeAdjacencyT>

Definition at line 87 of file octree_pointcloud_adjacency.h.

◆ EdgeID

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::EdgeID = typename VoxelAdjacencyList::edge_descriptor

Definition at line 100 of file octree_pointcloud_adjacency.h.

◆ iterator

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::iterator = typename LeafVectorT::iterator

Definition at line 106 of file octree_pointcloud_adjacency.h.

◆ LeafNode

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::LeafNode = typename OctreePointCloudT::LeafNode

Definition at line 90 of file octree_pointcloud_adjacency.h.

◆ LeafVectorT

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::LeafVectorT = std::vector<LeafContainerT *>

Definition at line 103 of file octree_pointcloud_adjacency.h.

◆ OctreeAdjacencyT

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::OctreeAdjacencyT = OctreePointCloudAdjacency<PointT, LeafContainerT, BranchContainerT>

Definition at line 85 of file octree_pointcloud_adjacency.h.

◆ OctreeBaseT

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::OctreeBaseT = OctreeBase<LeafContainerT, BranchContainerT>

Definition at line 83 of file octree_pointcloud_adjacency.h.

◆ OctreePointCloudT

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::OctreePointCloudT = OctreePointCloud<PointT, LeafContainerT, BranchContainerT, OctreeBaseT>

Definition at line 89 of file octree_pointcloud_adjacency.h.

◆ PointCloud

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 93 of file octree_pointcloud_adjacency.h.

◆ PointCloudConstPtr

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::PointCloudConstPtr = boost::shared_ptr<const PointCloud>

Definition at line 95 of file octree_pointcloud_adjacency.h.

◆ PointCloudPtr

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::PointCloudPtr = boost::shared_ptr<PointCloud>

Definition at line 94 of file octree_pointcloud_adjacency.h.

◆ Ptr

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::Ptr = boost::shared_ptr<OctreeAdjacencyT>

Definition at line 86 of file octree_pointcloud_adjacency.h.

◆ VoxelAdjacencyList

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::VoxelAdjacencyList = boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, PointT, float>

Definition at line 98 of file octree_pointcloud_adjacency.h.

◆ VoxelID

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

using pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::VoxelID = typename VoxelAdjacencyList::vertex_descriptor

Definition at line 99 of file octree_pointcloud_adjacency.h.

Constructor & Destructor Documentation

◆ OctreePointCloudAdjacency()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::OctreePointCloudAdjacency ( const double resolution_arg )

Constructor.

Parameters

[in] resolution_arg Octree resolution at lowest octree level (voxel size)

Definition at line 54 of file octree_pointcloud_adjacency.hpp.

Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::size().

◆ ~OctreePointCloudAdjacency()

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::~OctreePointCloudAdjacency ( )

inline

Empty class destructor.

Definition at line 122 of file octree_pointcloud_adjacency.h.

References pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::addPointsFromInputCloud(), pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::computeVoxelAdjacencyGraph(), and pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::getLeafContainerAtPoint().

Member Function Documentation

◆ addPointIdx()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::addPointIdx ( const int point_idx_arg )

overrideprotectedvirtual

Add point at index from input pointcloud dataset to octree.

Parameters

[in] point_idx_arg The index representing the point in the dataset given by setInputCloud() to be added

Note: This virtual implementation allows the use of a transform function to compute keys.

Reimplemented from pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >.

Definition at line 141 of file octree_pointcloud_adjacency.hpp.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::createLeaf(), pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::genOctreeKeyforPoint(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::input_, and pcl::isFinite().

Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::setTransformFunction().

◆ addPointsFromInputCloud()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::addPointsFromInputCloud ( )

Adds points from cloud to the octree.

Note: This overrides addPointsFromInputCloud() from the OctreePointCloud class.

Definition at line 63 of file octree_pointcloud_adjacency.hpp.

References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::addPointsFromInputCloud(), pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::computeNeighbors(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::defineBoundingBox(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::getLeafCount(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::input_, pcl::isFinite(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_depth_begin(), and pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_depth_end().

Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::~OctreePointCloudAdjacency().

◆ at()

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

LeafContainerT* pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::at ( size_t idx )

inline

Definition at line 111 of file octree_pointcloud_adjacency.h.

◆ begin()

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

iterator pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::begin ( )

inline

Definition at line 109 of file octree_pointcloud_adjacency.h.

◆ computeNeighbors()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::computeNeighbors	(	OctreeKey &	key_arg,
		LeafContainerT *	leaf_container
	)

protected

Fills in the neighbors fields for new voxels.

Parameters

[in]	key_arg	Key of the voxel to check neighbors for
[in]	leaf_container	Pointer to container of the leaf to check neighbors for

Definition at line 160 of file octree_pointcloud_adjacency.hpp.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::findLeaf(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::max_key_, pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.

Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::addPointsFromInputCloud(), and pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::setTransformFunction().

◆ computeVoxelAdjacencyGraph()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::computeVoxelAdjacencyGraph ( VoxelAdjacencyList & voxel_adjacency_graph )

Computes an adjacency graph of voxel relations.

Warning: This slows down rapidly as cloud size increases due to the number of edges.

Parameters

[out] voxel_adjacency_graph Boost Graph Library Adjacency graph of the voxel touching relationships. Vertices are PointT, edges represent touching, and edge lengths are the distance between the points.

Definition at line 215 of file octree_pointcloud_adjacency.hpp.

References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::genLeafNodeCenterFromOctreeKey(), pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_depth_begin(), and pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::leaf_depth_end().

Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::~OctreePointCloudAdjacency().

◆ end()

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

iterator pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::end ( )

inline

Definition at line 110 of file octree_pointcloud_adjacency.h.

◆ genOctreeKeyforPoint()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

void pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::genOctreeKeyforPoint	(	const PointT &	point_arg,
		OctreeKey &	key_arg
	)		const

protected

Generates octree key for specified point (uses transform if provided).

Parameters

[in]	point_arg	Point to generate key for
[out]	key_arg	Resulting octree key

Definition at line 112 of file octree_pointcloud_adjacency.hpp.

References pcl::isFinite(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::min_x_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::min_y_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::min_z_, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::resolution_, pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.

Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::addPointIdx(), pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::getLeafContainerAtPoint(), pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::setTransformFunction(), and pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::testForOcclusion().

◆ getLeafContainerAtPoint()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

LeafContainerT * pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::getLeafContainerAtPoint ( const PointT & point_arg ) const

Gets the leaf container for a given point.

Parameters

[in] point_arg Point to search for

Returns: Pointer to the leaf container - null if no leaf container found.

Definition at line 200 of file octree_pointcloud_adjacency.hpp.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::findLeaf(), and pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::genOctreeKeyforPoint().

Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::~OctreePointCloudAdjacency().

◆ setTransformFunction()

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

void pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::setTransformFunction ( std::function< void(PointT &p)> transform_func )

inline

Sets a point transform (and inverse) used to transform the space of the input cloud.

This is useful for changing how adjacency is calculated - such as relaxing the adjacency criterion for points further from the camera.

Parameters

[in] transform_func A boost:function pointer to the transform to be used. The transform must have one parameter (a point) which it modifies in place.

Definition at line 157 of file octree_pointcloud_adjacency.h.

◆ size()

template<typename PointT , typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>

size_t pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::size ( ) const

inline

Definition at line 114 of file octree_pointcloud_adjacency.h.

References pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::OctreePointCloudAdjacency().

◆ testForOcclusion()

template<typename PointT , typename LeafContainerT , typename BranchContainerT >

bool pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::testForOcclusion	(	const PointT &	point_arg,
		const PointXYZ &	camera_pos = `PointXYZ (0, 0, 0)`
	)

Tests whether input point is occluded from specified camera point by other voxels.

Parameters

[in]	point_arg	Point to test for
[in]	camera_pos	Position of camera, defaults to origin

Returns: True if path to camera is blocked by a voxel, false otherwise.

Definition at line 259 of file octree_pointcloud_adjacency.hpp.

References pcl::octree::OctreeBase< LeafContainerT, BranchContainerT >::findLeaf(), pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::genOctreeKeyforPoint(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::resolution_, pcl::octree::OctreeKey::x, pcl::octree::OctreeKey::y, and pcl::octree::OctreeKey::z.

Referenced by pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >::setTransformFunction().

The documentation for this class was generated from the following files:

pcl/octree/octree_pointcloud_adjacency.h
pcl/octree/impl/octree_pointcloud_adjacency.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

template<typename PointT, typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty> class pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >

Member Typedef Documentation

◆ BranchNode

◆ const_iterator

◆ ConstPtr

◆ EdgeID

◆ iterator

◆ LeafNode

◆ LeafVectorT

◆ OctreeAdjacencyT

◆ OctreeBaseT

◆ OctreePointCloudT

◆ PointCloud

◆ PointCloudConstPtr

◆ PointCloudPtr

◆ Ptr

◆ VoxelAdjacencyList

◆ VoxelID

Constructor & Destructor Documentation

◆ OctreePointCloudAdjacency()

◆ ~OctreePointCloudAdjacency()

Member Function Documentation

◆ addPointIdx()

◆ addPointsFromInputCloud()

◆ at()

◆ begin()

◆ computeNeighbors()

◆ computeVoxelAdjacencyGraph()

◆ end()

◆ genOctreeKeyforPoint()

◆ getLeafContainerAtPoint()

◆ setTransformFunction()

◆ size()

◆ testForOcclusion()

template<typename PointT, typename LeafContainerT = OctreePointCloudAdjacencyContainer<PointT>, typename BranchContainerT = OctreeContainerEmpty>
class pcl::octree::OctreePointCloudAdjacency< PointT, LeafContainerT, BranchContainerT >